Kim, Yeunhee Lee, Yeonseo Cha, Youngsu 2024-01-19T15:04:40Z 2024-01-19T15:04:40Z 2022-01-25 2021-03 2169-3536 https://pubs.kist.re.kr/handle/201004/117287 In this study, we proposed an origami pump actuator based pneumatic quadruped robot (OPARO). The robot was constructed with a four-leg system controlled by only two motors. Specifically, the forelegs and hindlegs are pneumatically coupled to operate simultaneously with a tendon-driven system. The forelegs simultaneously performs pumping and actuating to supply air to the hindlegs, and the hindlegs are passively actuated by the air supply from the forelegs. We conducted a series of experiments to evaluate the mobility performance of OPARO. We measured the posture of each leg and analyzed the movement to determine the operating mechanism in locomotion. The motion, gait, and repeatability of OPARO were analyzed from the experimental results. Additionally, we conducted a parametric study to determine the tendencies at different gait frequencies and motor inputs. The OPARO moves at a maximum velocity of 0.11 body length per second (10.29 mm/s). Furthermore, we evaluated the gait velocity with various gait patterns according to different duty ratios and floor surfaces. Moreover, the steering performance of OPARO was demonstrated. We found that the tendon-driven pneumatic origami pump actuator system is adequate for a quadruped robot without an external air supply system. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC Origami Pump Actuator Based Pneumatic Quadruped Robot (OPARO) Article 10.1109/ACCESS.2021.3065402 1 IEEE ACCESS, v.9, pp.41010 - 41018 IEEE ACCESS 9 41010 41018 N scie scopus 000631181300001 2-s2.0-85102619425 Computer Science, Information Systems Engineering, Electrical & Electronic Telecommunications Computer Science Engineering Telecommunications Article Robots Pneumatic systems Legged locomotion Pneumatic actuators Tendons Foot Three-dimensional displays Legged locomotion mobile robots pneumatic actuators robot motion soft robotics